function?[VG]=?add_control_noise（VGQ?addnoise）
%?Add?random?noise?to?nominal?control?values

if?addnoise?==?1
%?????V=?V?+?randn（1）*sqrt（Q（11））;?%?if?assume?Q?is?diagonal
%?????G=?G?+?randn（1）*sqrt（Q（22））;
????
?????C=?multivariate_gauss（[V;G]Q?1）;?%?if?Q?might?be?correlated
?????V=?C（1）;?G=?C（2）;
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????172??2004-07-02?10:26??predict_true.m
?????文件?????????546??2004-07-19?21:52??resample_particles.m
?????文件?????????757??2004-07-19?21:49??sqrtm_2by2.m
?????文件?????????337??2003-12-05?16:15??stratified_random.m
?????文件?????????567??2004-03-02?10:24??stratified_resample.m
?????文件?????????433??2004-07-02?10:32??TransformToGlobal.m
?????文件?????????913??2004-07-19?23:07??readme.txt
?????文件?????????295??2004-03-02?18:41??fastslam1\compute_weight.m
?????文件????????5796??2006-02-15?15:08??fastslam1\fastslam1_sim.m
?????文件?????????359??2004-07-19?16:50??fastslam1\predict.m
?????目錄???????????0??2006-02-15?15:09??fastslam1\
?????文件?????????120??2006-02-16?13:08??fastslam2\compute_weight.m
?????文件????????6479??2006-02-16?12:02??fastslam2\fastslam2_sim.m
?????文件????????1134??2005-10-18?17:36??fastslam2\gauss_evaluate.m
?????文件?????????323??2004-03-01?18:43??fastslam2\observe_heading.m
?????文件?????????981??2004-06-07?21:38??fastslam2\predict.m
?????文件???????11047??2004-03-01?13:05??fastslam2\proposal.mws
?????文件????????1490??2006-02-17?16:56??fastslam2\sample_proposal.m
?????目錄???????????0??2006-02-16?13:07??fastslam2\
?????文件?????????580??2006-02-16?10:21??fastslam2r\compute_weightr.m
?????文件????????6737??2006-02-16?10:21??fastslam2r\fastslam2r_sim.m
?????文件?????????323??2004-03-01?18:43??fastslam2r\observe_heading.m
?????文件?????????981??2004-06-07?21:38??fastslam2r\predict.m
?????文件?????????204??2006-02-16?13:10??fastslam2r\readme.txt
?????文件?????????739??2004-07-02?11:16??fastslam2r\sample_proposal.m
?????目錄???????????0??2006-02-22?10:51??fastslam2r\
?????文件????????1072??2004-03-26?19:54??example_webmap.mat
?????文件???????54416??2004-02-16?19:18??frontend.fig
?????文件?????????321??2004-07-02?11:31??add_control_noise.m
?????文件?????????483??2004-03-03?19:58??add_feature.m
?????文件?????????289??2004-02-23?16:23??add_observation_noise.m
............此處省略13個文件信息